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When using the motor drive, the forceps produced a greater grasping force because of the larger rotation possible.
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The CTSA Hand has the features of highly self-adaption and large grasping force when grasping various objects.
Experimental results show that the CTSA Hand has the features of highly self-adaption and large grasping forces when grasping various objects.
Because the disk rotation is limited by the operating range of the handle, the forceps cannot produce a grasping force greater than this maximum value using the handpiece.
The size d affects CTSA Hand's grasping force: The larger the size d, the greater the size of the object that CTSA Hand can crawl, and the greater the grasping force for large objects.
Greater stiffness will particularly be added to the mechanism to increase its grasping force [18, 19].
However, there are still some shortcomings such as small grasping force when grasping too small or too large objects.
The size δ affects the robot's grasping force: The smaller the size δ, the smaller size of the object that CTSA Hand can crawl, and the greater the grasping force for small objects.
Fig. 18 Grasping force in various directions.
Grasping model, equivalent joint drive and grasping force analysis are carried out in Section 3.
Grasping was maintained for four seconds, and the grasping force was measured eight times.
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